Add simple motor simulation classes (#1117)

simulation/lowfi_simulation/src/main/native/include/LowFiSim/EncoderSim.h

@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class EncoderSim {
+ public:
+  virtual void SetPosition(double position) = 0;
+  virtual void SetVelocity(double velocity) = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorEncoderConnector.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "EncoderSim.h"
+#include "MotorSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class MotorEncoderConnector {
+ public:
+  MotorEncoderConnector(MotorSim& motorController, EncoderSim& encoder);
+
+  void Update();
+
+ private:
+  MotorSim& motorSimulator;
+  EncoderSim& encoderSimulator;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorModel/MotorModel.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class MotorModel {
+ public:
+  virtual void Reset() = 0;
+  virtual void SetVoltage(double voltage) = 0;
+  virtual void Update(double elapsedTime) = 0;
+
+  virtual double GetPosition() const = 0;
+  virtual double GetVelocity() const = 0;
+  virtual double GetAcceleration() const = 0;
+  virtual double GetCurrent() const = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorModel/SimpleMotorModel.h

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "LowFiSim/MotorModel/MotorModel.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleMotorModel : public MotorModel {
+ public:
+  explicit SimpleMotorModel(double maxSpeed);
+
+  void Reset() override;
+  void SetVoltage(double voltage) override;
+  void Update(double elapsedTime) override;
+
+  double GetPosition() const override;
+  double GetVelocity() const override;
+  double GetAcceleration() const override;
+  double GetCurrent() const override;
+
+ protected:
+  double m_maxSpeed;
+  double m_voltagePercentage{0};
+  double m_position{0};
+  double m_velocity{0};
+
+  static constexpr double kMaxExpectedVoltage = 12;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorSim.h

@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class MotorSim {
+ public:
+  virtual double GetPosition() const = 0;
+  virtual double GetVelocity() const = 0;
+  virtual double GetAcceleration() const = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/LowFiSim/WpiSimulators/WpiEncoderSim.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "LowFiSim/EncoderSim.h"
+#include "Simulation/EncoderSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiEncoderSim : public EncoderSim {
+ public:
+  explicit WpiEncoderSim(int index);
+
+  void SetPosition(double position) override;
+  void SetVelocity(double velocity) override;
+
+ protected:
+  frc::sim::EncoderSim m_encoderSimulator;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/LowFiSim/WpiSimulators/WpiMotorSim.h

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "LowFiSim/MotorModel/MotorModel.h"
+#include "LowFiSim/MotorSim.h"
+#include "Simulation/PWMSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiMotorSim : public MotorSim {
+ public:
+  explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
+
+  void Update(double elapsedTime);
+  double GetPosition() const override;
+  double GetVelocity() const override;
+  double GetAcceleration() const override;
+
+ private:
+  MotorModel& m_motorModelSimulation;
+  frc::sim::PWMSim m_pwmSimulator;
+
+  static constexpr double kDefaultVoltage = 12.0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc